From c978afb5cdf4d5795e78ff6c1b7397122fffb871 Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Wed, 26 Aug 2026 11:46:12 +0800 Subject: [PATCH] docs: document ROS2 depth colorizer modes --- .../camera_devices/4_application_guide/launch_parameters.md | 3 +++ docs/en/source/camera_devices/4_application_guide/topics.md | 1 + .../camera_devices/4_application_guide/launch_parameters.md | 3 +++ docs/zh/source/camera_devices/4_application_guide/topics.md | 1 + 4 files changed, 8 insertions(+) diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md index dd6e02a3..6224a839 100644 --- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md +++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md @@ -361,6 +361,9 @@ The following are the launch parameters available: * This parameter is case-insensitive. Use one of the valid values listed above. * **`enable_d2c_viewer`** * Publishes the D2C overlay image (for testing only). See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for examples. +* **`depth_colorizer_mode`** + * Colorizes the depth image published on `/camera/depth/image_raw`. Supported values are `none`, `jet`, `jet_inv`, and `gray`. `none` keeps the raw depth image, `gray` publishes `mono8`, and `jet` / `jet_inv` publish `rgb8`. + * When a colorizer mode other than `none` is selected together with `enable_d2c_viewer:=true`, the node logs a warning and automatically disables `enable_d2c_viewer`, because the viewer requires a raw `16UC1` depth image. ## IMU diff --git a/docs/en/source/camera_devices/4_application_guide/topics.md b/docs/en/source/camera_devices/4_application_guide/topics.md index 5f450754..d5c6f26d 100644 --- a/docs/en/source/camera_devices/4_application_guide/topics.md +++ b/docs/en/source/camera_devices/4_application_guide/topics.md @@ -19,6 +19,7 @@ These topics provide the raw image data and corresponding calibration informatio * `/camera/depth/image_raw` * Raw image data from the depth stream. + * When `depth_colorizer_mode` is `none`, the topic keeps the raw depth encoding. `gray` changes the published encoding to `mono8`; `jet` and `jet_inv` change it to `rgb8`. * `/camera/depth/camera_info` * Camera calibration data and metadata for the depth stream. * `/camera/depth/metadata` diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md index c60b8002..3490f554 100644 --- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md +++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md @@ -359,6 +359,9 @@ * 该参数大小写不敏感；请使用上述有效值。 * **`enable_d2c_viewer`** * 发布D2C叠加图像（仅用于测试）。使用示例参考 [对齐深度到彩色](../5_advanced_guide/configuration/align_depth_color.md)。 +* **`depth_colorizer_mode`** + * 对发布到 `/camera/depth/image_raw` 的深度图进行彩色化。支持 `none`、`jet`、`jet_inv` 和 `gray`。`none` 保持原始深度图，`gray` 发布 `mono8`，`jet` 和 `jet_inv` 发布 `rgb8`。 + * 当选择非 `none` 模式且同时设置 `enable_d2c_viewer:=true` 时，节点会输出告警并自动关闭 `enable_d2c_viewer`，因为 D2C Viewer 要求输入原始 `16UC1` 深度图。 ## IMU diff --git a/docs/zh/source/camera_devices/4_application_guide/topics.md b/docs/zh/source/camera_devices/4_application_guide/topics.md index 71b596b3..f27c5845 100644 --- a/docs/zh/source/camera_devices/4_application_guide/topics.md +++ b/docs/zh/source/camera_devices/4_application_guide/topics.md @@ -19,6 +19,7 @@ * `/camera/depth/image_raw` * 深度流的原始图像数据。 + * 当 `depth_colorizer_mode` 为 `none` 时保持原始深度编码；`gray` 会将发布编码改为 `mono8`，`jet` 和 `jet_inv` 会改为 `rgb8`。 * `/camera/depth/camera_info` * 深度流的相机校准数据和元数据。 * `/camera/depth/metadata`